Actuator apparatus for operating a surgical instrument

ABSTRACT

A coupler apparatus for coupling electrical signals between an actuator and an end effector is disclosed. The end effector is disposed at a distal end of an elongate articulated positioner and used to position the end effector for performing surgical operations. The articulated positioner has a central lumen and the apparatus includes an elongate body sized to be slidingly received within the central lumen of the articulated positioner, at least a portion of the body being operable to flex during movement of the articulated positioner. The apparatus also includes a plurality of electrical conductors extending through the body, and a plurality of proximal electrical contacts disposed at a proximal end of the body for removably connecting each of the electrical conductors to respective electrical signal lines at the actuator.

CROSS-REFERENCE TO RELATED APPLICATION

The present application is a Continuation Application claiming thebenefit of and priority to U.S. patent application Ser. No. 16/415,303,filed May 17, 2019 (now U.S. Pat. No. 10,722,296), which is a DivisionalApplication claiming the benefit of and priority to U.S. patentapplication Ser. No. 15/593,000, filed May 11, 2017 (now U.S. Pat. No.10,292,760), the disclosures of each of the above-identifiedapplications being hereby incorporated by reference in their entirety.

BACKGROUND 1. Field

This disclosure relates generally to surgical instruments forlaparoscopic or robotic surgery and more particularly to a couplerapparatus for coupling electrical signals between an actuator and an endeffector.

2. Description of Related Art

Robotic surgical systems commonly employ one or more instruments thatare manipulated by a robotic system to perform surgical tasks. Eachinstrument is generally equipped with an end effector, such as asurgical scissor, grasper, forceps, dissector, or other end effector forperforming specific operations. An actuator generally provides for bothmechanical and electrical actuation of the end effector. Commonly, theinstrument is configured with a specific end effector and changing theend effector may not be possible or may require some disassembly of theinstrument.

There remains a need for methods and apparatus for coupling electricallyand mechanically between actuators and end effectors.

SUMMARY

In accordance with some embodiments, there is provided a couplerapparatus for coupling electrical signals between an actuator and an endeffector. The end effector is disposed at a distal end of an elongatearticulated positioner and used to position the end effector forperforming surgical operations. The articulated positioner has a centrallumen and the apparatus includes an elongate body sized to be slidinglyreceived within the central lumen of the articulated positioner, atleast a portion of the body being operable to flex during movement ofthe articulated positioner. The apparatus also includes a plurality ofelectrical conductors extending through the body, and a plurality ofproximal electrical contacts disposed at a proximal end of the body forremovably connecting each of the electrical conductors to respectiveelectrical signal lines at the actuator.

The body may include a plurality of channels extending through the body,each electrical conductor being received in one of the plurality ofchannels.

The plurality of proximal electrical contacts may be peripherallydisposed about an outside surface of the proximal end of the body, eachelectrical contact being electrically connected to one of the electricalconductors and being operable to make contact with correspondingelectrical contacts of the actuator.

The plurality of proximal electrical contacts may include a plurality ofannular rings spaced apart on an outside surface of the proximal end ofthe body, each annular ring being electrically connected to one of theelectrical conductors and being operable to make contact withcorresponding electrical contacts of the actuator while facilitatingrotation of the body with respect to the electrical contacts of theactuator.

The end effector may be irremovably attached to a distal end of the bodyand the electrical conductors may terminate in electrical contact withportions of the end effector.

The end effector may be removably attached to a distal end of the bodyand the electrical conductors may each terminate in a distal electricalcontact at a distal end of the body, each distal electrical contactbeing operable to make contact with a corresponding contact of the endeffector when connected to the distal end of the body.

The body may be operably configured to provide a degree of torsionalrigidity and the actuator may include a mechanical interface forreceiving and retaining the body, the mechanical interface being furtheroperable to deliver a rotational torque to the body for causing rotationof the end effector.

The body may include a central conduit for slidably receiving a controllink, the control link extending between the actuator and the endeffector for causing mechanical actuation of the end effector.

The body may have a generally cylindrical shape.

The plurality of channels may be arranged spaced apart about alongitudinal axis of the body.

The body may include a plurality of coaxial insulating sheaths defininga plurality of annular cylindrical channels each having an electricalconductor received therein.

The plurality of coaxial insulating sheaths may include a centrallydisposed insulating sheath having a central conduit for slidablyreceiving a control link, the control link extending between theactuator and the end effector for causing mechanical actuation of theend effector.

The control link may include a conductive material and acts as one ofthe electrical conductors.

In accordance with some embodiments, there is provided an actuatorapparatus operable to receive the coupling apparatus above, the actuatorapparatus including a mechanical interface for receiving and retainingthe body, and a plurality of actuator electrical contacts for makingelectrical contact with respective proximal electrical contacts on thebody.

The mechanical interface may be operable to transmit a rotational torquefor rotating the body, and the plurality of actuator electrical contactsmay be operably configured to maintain electrical connection with therespective proximal electrical contacts during rotation of the body.

The mechanical interface may include an opening for receiving andretaining the proximal end of the body, and a rotatable spool, theplurality of actuator electrical contacts being disposed within theopening of the mechanical interface and connected to a length ofelectrical conductor wound around the spool, the spool being operable topermit rotation of the mechanical interface while playing out or takingup the electrical conductor lengths.

Other embodiments and features will become apparent to those ordinarilyskilled in the art upon review of the following description of specificdisclosed embodiments in conjunction with the accompanying figures.

BRIEF DESCRIPTION OF THE DRAWINGS

In drawings which illustrate disclosed embodiments,

FIG. 1 is a perspective exploded view of a couple apparatus, endeffector, tool positioner, and actuator in accordance with oneembodiment;

FIG. 2 is a perspective view of a proximal end of the coupler apparatusshown in FIG. 1;

FIG. 3 is a perspective view of the end effector shown in FIG. 1;

FIG. 4 is a perspective view of a mechanical interface of the actuatorshown in FIG. 1;

FIG. 5 is a perspective exploded view of another embodiment of a couplerapparatus;

FIG. 6 is a rear perspective view of a distal coupler and a distal endof the coupler apparatus shown in FIG. 5;

FIG. 7 is a perspective view of another embodiment of a couplerapparatus; and

FIG. 8 is a perspective view of another embodiment for the proximal endof the coupler apparatus shown in FIG. 1 and FIG. 2.

DETAILED DESCRIPTION

Referring to FIG. 1, a coupler apparatus according to an embodiment isshown generally at 100. The coupler apparatus 100 is operable to routeelectrical signals between an actuator 102 and an end effector 104disposed at a distal end 106 of an elongate articulated positioner 108.The actuator 102 may be part of a robotic surgical system (not shown)for performing surgical operations on a living human or other animal bymanipulating the end effector 104. The actuator includes a mechanicalinterface 103 for receiving the coupler apparatus 100 and may beoperable to provide mechanical actuation of the positioner 108, couplerapparatus 100, and the end effector 104 such as described in commonlyowned PCT patent application PCT/CA2015/000098 entitled “ACTUATOR ANDDRIVE FOR MANIPULATING A TOOL” filed on Feb. 18, 2015 and incorporatedherein by reference in its entirety. The positioner 108 has a centrallumen 110 and is used to position the end effector 104 for performingsurgical operations. The positioner 108 may be a tool positioner such asthe tool positioner described commonly owned patent applicationPCT/CA2013/001076 entitled “ARTICULATED TOOL POSITIONER AND SYSTEMEMPLOYING SAME” filed on Dec. 20, 2013 and incorporated herein byreference in its entirety. The coupler apparatus 100 includes anelongate body 112 sized to be slidingly received within the centrallumen 110 of the articulated positioner 108. In the embodiment shown thebody 112 has a generally cylindrical shape.

In the embodiment shown the positioner 108 includes three articulatedsections 114, 116, and 118, which are manipulated by control links (notshown) to bend transversely causing the distal end 106 of the positionerto move to a desired location and orientation in three-dimensionalspace. The positioner 108 also includes a rigid unarticulated section120. The body 112 of the coupler apparatus 100 has at least a portionthat is operable to flex during movement of the articulated positioner.In one embodiment the entire body 112 may be fabricated from a flexiblematerial. In other embodiments only a portion that is required to flexwithin the articulated sections 114, 116, and 118 of the positioner 108may be flexible while the remaining body portion is rigid orsubstantially rigid.

The coupler apparatus 100 has a proximal end 122 that is sized to bereceived in the central lumen 110 of the positioner 108. The proximalend 122 of the coupler apparatus 100 is shown in enlarged detail with aportion of the body 112 cut away in FIG. 2. Referring to FIG. 2, thebody 112 of the coupler apparatus 100 has a plurality of electricalconductors 124, 126, 128, and 130 extending through the body. In thisembodiment, the body 112 has a plurality of channels for receiving eachrespective electrical conductor 124-130 (for example, the conductor 124is shown received within a channel 132 in FIG. 2). The plurality ofchannels are arranged spaced apart about a longitudinal axis 146 of thebody 112.

The proximal end 122 of the coupler apparatus 100 also includes aplurality of proximal electrical contacts disposed at the proximal end122 for removably connecting each of the electrical conductors 124-130to respective electrical signal lines at the actuator 102. In FIG. 2, anelectrical contact 134 is associated with the electrical conductor 124and an electrical contact 136 is associated with the electricalconductor 128. Further contacts (not visible in FIG. 2) are provided onan underside of the proximal end 122 of the coupler apparatus 100. Theelectrical contacts 134 and 136 are peripherally disposed about anoutside surface 144 of the proximal end 122 and each electrical contactis electrically connected to a respective one of the electricalconductors 124 and 128. Similarly, electrical contacts on the undersideof the outside surface 144 of the proximal end 122 are connected to therespective electrical conductors 126 and 130. In the embodiment shownthe electrical contacts 134 and 136 comprise conductive strips disposedon an insulating outside surface 144 of the proximal end 122 of the body112.

In this embodiment the body 112 includes a central conduit 138 forslidably receiving a control link 140. The control link 140 extendsthrough the central conduit 138 and couples to the actuator 102 forcausing mechanical actuation of the end effector 104 throughlongitudinal movements of the control link in the direction indicated bythe arrow 142. The coupler apparatus 100 shown in FIG. 1 and FIG. 2includes four electrical conductors 124-130 that terminate in electricalcontact with portions of the end effector 104 and may be used to deliveran electrocauterization current to tissue grasped or in contact with theend effector 104. Some of the electrical conductors 124-130 may also beable be used to deliver other electrical signals to or from the endeffector 104 including signals received from sensors coupled to the endeffector for detecting forces, temperatures, or other information. Inother embodiments the coupler apparatus 100 may include a fewer numberof conductors for driving a bipolar or monopolar end effector.Alternatively, more than four conductors may be provided for endeffectors that require additional signals for operation.

Referring to FIG. 3, the end effector 104 is shown in enlarged detailconnected to a distal end 200 of the body 112 of the coupler apparatus100. In this embodiment the end effector 104 is irremovably attached tothe distal end 200 of the coupler apparatus body 112 and the couplerapparatus 100 and end effector 104 may be packaged as a sterile unit forlimited-use and subsequent disposal. A portion of the coupler apparatus100 is shown cut way in FIG. 3 to show the electrical conductors 124,128, and 130 (the electrical conductor 126 is below the control link 140and not visible in FIG. 3). The end effector 104 includes a hub 202 anda pair of opposing electrically conductive jaws 204 and 206 mounted on apivot 208 extending through the hub. The control link 140 is coupled tothe jaws 204 and 206 via a yoke mechanism (not shown) within the hub 202that causes the jaws to open or close to grasp or otherwise contacttissue. The electrical conductor 130 extends through the hub 202 andconnects to the jaw 204 while the electrical conductor 124 similarlyconnects to the jaw 206 for supplying an electrocauterization current totissue grasped between the jaws 204 and 206. In this embodiment the hub202 and yoke and jaws 204 and 206 may be fabricated from a metalmaterial, with the jaws being insulated so as to permit individualconnection of electrocauterization current to the jaws. Additionalconductors 126 and 128 may be used for a two-wire supply to a heatingelement within the jaw, for example or to carry other electrical signalsto the end effector 104.

Referring back to FIG. 1, in the embodiment shown the actuator 102includes a gear train 105 driven by a linear rack gear 107 for causingrotation of the mechanical interface to transmit a rotational torque tothe body 112 for causing a respective rotation of the end effector 104.

The mechanical interface 103 of the actuator 102 is shown in enlargeddetail in FIG. 4. Referring to FIG. 4, the mechanical interface 103includes a central opening 240 sized to receive and retain the proximalend 122 of the body 112 of the coupler apparatus 100. The body 112 isconfigured to provide a degree of torsional rigidity for causingrotation of the end effector 104 in response to a rotational torqueimparted by the mechanical interface 103. The actuator 102 also includesactuator electrical contacts 242, 244, 246, and 248 accommodated inrespective channels in the actuator. The electrical contacts 242, 244,246, and 248 correspond to the electrical contacts on the proximal end122 of the coupler apparatus 100 (i.e. contacts 134 and 136 shown inFIG. 2 correspond to contacts 244 and 246 on the actuator).

The actuator 102 further includes a rotatable spool 250 for receiving alength of electrical conductor 254 wound around the spool and connectingto the electrical contacts 242, 244, 246, and 248. The electricalconductor 254 is routed back to a signal source of the tool interface(not shown). In this embodiment the electrical conductor 254 is a fourcore flexible cable, but in other embodiments separate electricalconductors may be received on the spool 250. In other embodiments, therotatable spool 250 may be driven by other means to impart a roll motionon the rotatable spool. For example, a geared drive mechanism may be indirect contact with a geared interface on a surface of the rotatablespool, with a signal being delivered through at least a portion of thegeared drive mechanism and a corresponding portion of the gearedinterface that are respectively made of conductive materials forproviding electrical connection.

When the actuator 102 causes the rotatable spool 250 to rotate about itslongitudinal axis 256 in a direction indicated by arrow 258, thewindings 252 on the spool 250 play out allowing at least one rotation ofthe actuator 102. Similarly, when rotated opposite to the directionindicated by arrow 258, the spool 250 takes up further windings of theelectrical conductor 254 allowing rotation of the mechanical interface103. The spool 250 will generally be configured to take up a sufficientnumber of windings 252 to permit rotation of the mechanical interface103 for actuating rotation of the body 112 and the end effector 104through an angle (in one embodiment through an angle of about ±315°).

Referring back to FIG. 2, when the proximal end 122 of the couplerapparatus 100 is inserted into the central opening 240, the electricalcontacts 134 and 136 and contacts on the underside of the outsidesurface 144 of the coupler apparatus 100 make sliding electrical contactwith the corresponding electrical conductors 242-246 in the mechanicalinterface 103 and thus with corresponding conductors in the electricalconductor 254. The electrical contacts 242, 244, 246, and 248 areoperably configured to maintain electrical connection with therespective proximal electrical contacts on the proximal end 122 of thebody 112 during rotation of the mechanical interface 103 and the body.

Referring to FIG. 8, in other embodiments, the proximal end 122 of thecoupler apparatus 100 may have a non-circular shape providing one ormore locking or keyed surfaces 500 that have corresponding surfacefeatures within the central opening 240 of the mechanical interface 103for preventing rotation of the proximal end of the body of the couplerapparatus. The locking or keyed surfaces 500 assist in establishingelectrical contact between contacts (contacts 502 and 504 are visible inFIG. 8) and the contacts 242, 244, 246, and 248 of the actuator 102. Thelocking or keyed surfaces 500 prevent rotational slippage between thecoupler apparatus 100 and the actuator 102 that may occur duringrotational movement of the actuator.

In other embodiments, the electrical contacts 134, 136 may extendoutwardly from the surface 144 of the coupler apparatus and engage withthe electrical contacts 242, 244, 246, and 248 to provide the necessarytransmission of rotational forces between the actuator 102 and theproximal end 122 of the coupler apparatus 100.

Referring back to FIG. 1, in operation the coupler apparatus 100 and endeffector 104, if supplied as a sterile unit, may be unpacked andinserted through the distal end 106 of the positioner 108 and throughthe central lumen 110. The proximal end 122 of the coupler apparatus isthen received in the central opening 240 of the mechanical interface 103making electrical contact between the tool interface and the couplerapparatus 100. The control link 140 passes through the actuator 102 andmay be coupled to a control link actuator 109 (shown in FIG. 1) foractuating longitudinal movements of the control link. On completion ofthe surgery, the coupler apparatus 100 and end effector 104 may beremoved from the positioner 108 and discarded. The positioner 108 maythen be sterilized for subsequent use. The disposable configuration ofthe coupler apparatus 100 avoids the need to sterilize the centralconduit 138 coupler apparatus 100, which may be difficult to flush dueto its relatively narrow diameter.

Referring to FIG. 5, an embodiment of a coupler apparatus is shown inexploded view generally at 300. In this coupler embodiment an endeffector 302 includes a connector portion 304 having a plurality ofelectrical contacts. In FIG. 5 two electrical contacts 306 and 308 areshown configured as conductive strips disposed on the connector portion304, which is non-conductive. A further pair of electrical contacts maybe disposed on the underside of the connector portion 304. The endeffector 302 includes a control link 310 connected to the end effectorand may be supplied as a sterile unit. A portion of the positioner 108is also shown in FIG. 5 with the coupler apparatus 300 already insertedinto the central lumen 110. The coupler apparatus 300 includes a body312 having channels for receiving electrical conductors 314, 316, 318,and 320. The electrical conductors 314-320 each have a conductiveportion that protrudes from a distal end 346 of the body 312, providingdistal electrical contacts 324, 326, 328 and 330 (shown in the insert322) at the distal end. The body 312 also has a central conduit 332running through the body for receiving the control link 310.

The end effector 302 may be connected to the positioner 108 via a distalcoupler 334 that includes electrical contacts 336, 338, 340, and 342,which make sliding electrical contact with the contacts 304, 306, andthe contacts disposed on the underside of the connector portion 304 ofthe end effector. The distal coupler 334 is shaped to receive theconnector portion 304, and the distal coupler 334 and connector portion304 of the end effector 302 may snap or clip together to retain the endeffector on in the coupler and the distal coupler 334 may be attached tothe distal end 106 of the positioner 108.

The distal end 346 of the coupler apparatus 300 and distal coupler 334are shown from a rear perspective in FIG. 6. The distal coupler 334includes a cylindrical guide portion 380 for receiving the distal end346 of the coupler apparatus 300. The distal coupler 334 also includes aplurality of contacts 382 (one of which is fully visible, two partiallyobscured, and one completely obscured in FIG. 6). The plurality ofcontacts 382 make electrical contact with the respective contacts326-330 on the coupler apparatus 300 when the distal end 346 of the body312 is received in the cylindrical guide portion 380 of the distalcoupler 334. The distal coupler 334 also includes a central opening 384for receiving the control link 310. The distal coupler 334 thus acts asa mechanical and electrical interface between the end effector 302 andthe positioner 108. In FIG. 6, portions of the electrical conductors314-320 are visible from the rear, each being received in a respectivechannel in the body 312. The central conduit 332 also extends throughthe body for receiving the control link 310.

In operation, the end effector 302 may be packed as a sterile unitincluding the control link 310. The positioner 108 is prepared with thecoupler apparatus 300 inserted through its central lumen 110 as shown inFIG. 5 such that the distal end 346 protrudes slightly from the centrallumen. The distal coupler 334 is then attached to the distal cylindricalportion 344 of the positioner 108 making electrical contact between thecontacts 326-330 on the distal end 346 of the coupler apparatus 300 andthe corresponding contacts 382 on the distal coupler 334. Finally, thecontrol link 310 is threaded through the central opening 384 of thedistal coupler 334 and through the central conduit 332 in the couplerapparatus 300. The contacts 306 and 308 on the connector portion 304 ofthe end effector 302 are then pressed into engagement with the contacts336-340 on the distal coupler 334 making electrical connection to theend effector 302 through the coupler apparatus 300. The embodiment shownprovides for visible electrical connection between the end effector 302and the distal coupler 334.

In one embodiment, a proximal end of the coupler apparatus 300 may beconfigured with electrical contacts, such as shown at 334 and 336 inFIG. 2 for use with a mechanical interface such as shown at 103 in FIG.4.

Referring to FIG. 7, an embodiment of coupler apparatus is showngenerally at 400. The coupler apparatus 400 includes a body 402 having aplurality of coaxial insulating sheaths 404, 406, and 408 defining aplurality of annular cylindrical channels having respective electricalconductors 410, 412, and 414 received therein. The coupler apparatus 400also includes a control link 416, which may be electrically conductivethus providing a fourth electrical conductor. A distal end 418 connectsto an end effector (not shown) using a configuration generally as shownin either FIG. 3 or FIG. 5 or other connection configuration. A proximalend 420 of the coupler apparatus 400 includes a plurality ofelectrically conductive annular rings 422, 424, and 426, which are inelectrical contact with the respective electrical conductors 410, 412,and 414. The proximal end 420 of the coupler apparatus 400 is sized tobe received within a mechanical interface of an actuator, generally asshown at 102 and 103 in FIG. 1. In this embodiment the mechanicalinterface includes a plurality of leaf springs that act as electricalconnectors 428, 430, 432, and 434 that make sliding electrical contactwith the electrical conductors 410-414 and an outer conductive surfaceof the control link 416. The electrical connectors 428, 430, 432, and434 are disposed within a mechanical interface and permit rotation ofthe coupler apparatus 400 and also permit longitudinal movement of thecontrol link 416 for actuating an end effector.

In one embodiment the body 402 of the coupler apparatus 400 may be madefrom materials that withstand temperatures during sterilization byautoclaving. The coupler apparatus 400 and an attached end effector maythus be reprocessed and reused for a set number of uses, thus reducingoperating cost. In one embodiment the coupler apparatus 400 may beprovided with an electronic use counter or identifier that can betracked to record the number of uses. After a pre-determined number ofuses the coupler apparatus may be discarded.

Various disclosed features of above embodiments may be used incombinations other than disclosed above. For example, the variousdisclosed distal connections may be combined with other proximalconnections than shown in the above figures.

Methods of using the disclosed system is included; a method of use caninclude using or assembling any one or more of the foregoing features toachieve functions and/or features of the disclosed systems. A method ofmanufacturing the foregoing system is included; the method ofmanufacture can include providing, making, connecting, assembling,and/or installing any one or more of the foregoing features of thesystem to achieve functions and/or features of the system as discussedin this disclosure.

Features, materials, characteristics, or groups described in conjunctionwith a particular aspect, embodiment, or example are to be understood tobe applicable to any other aspect, embodiment or example describedherein unless incompatible therewith. All of the features disclosed inthis specification (including any accompanying claims, abstract anddrawings), or all of the steps of any method or process so disclosed,may be combined in any combination, except combinations where at leastsome of such features or steps are mutually exclusive. The protection isnot restricted to the details of any foregoing embodiments. Theprotection extends to any novel one, or any novel combination, of thedisclosed features (including any accompanying claims, abstract anddrawings), or to any novel one, or any novel combination, of the stepsof any method or process so disclosed.

Conditional language, such as “can,” “could,” “might,” or “may,” unlessspecifically stated otherwise, or otherwise understood within thecontext as used, is generally intended to convey that certainembodiments include, while other embodiments do not include, certainfeatures, elements, or steps. Thus, such conditional language is notgenerally intended to imply that features, elements, or steps are in anyway required for one or more embodiments or that one or more embodimentsnecessarily include logic for deciding, with or without user input orprompting, whether these features, elements, or steps are included orare to be performed in any particular embodiment. The terms“comprising,” “including,” “having,” and the like are synonymous and areused inclusively, in an open-ended fashion, and do not excludeadditional elements, features, acts, operations, and so forth. Also, theterm “or” is used in its inclusive sense (and not in its exclusivesense) so that when used, for example, to connect a list of elements,the term “or” means one, some, or all of the elements in the list.Further, the term “each,” as used herein, in addition to having itsordinary meaning, can mean any subset of a set of elements to which theterm “each” is applied.

Conjunctive language such as the phrase “at least one of X, Y, and Z,”unless specifically stated otherwise, is otherwise understood with thecontext as used in general to convey that an item, term, etc. may beeither X, Y, or Z. Thus, such conjunctive language is not generallyintended to imply that certain embodiments require the presence of atleast one of X, at least one of Y, and at least one of Z.

Language of degree used herein, such as the terms “approximately,”“about,” “generally,” and “substantially” as used herein represent avalue, amount, or characteristic close to the stated value, amount, orcharacteristic that still performs a desired function or achieves adesired result. For example, the terms “approximately”, “about”,“generally,” and “substantially” may refer to an amount that is withinless than 10% of, within less than 5% of, within less than 1% of, withinless than 0.1% of, and within less than 0.01% of the stated amount.

The scope of the present disclosure is not intended to be limited by thespecific embodiments described and may be defined by claims as presentednow or in the future. The language of the claims is to be interpretedbroadly based on the language employed in the claims and not limited tothe examples described in the present specification or during theprosecution of the application, which examples are to be construed asnon-exclusive.

What is claimed is:
 1. A surgical instrument for use with a roboticsurgical system to perform surgical tasks, the instrument comprising: anactuator; an end effector; a positioner including a central lumen, theend effector being disposed at a distal end of the positioner, thepositioner being configured to position the end effector; and a couplerconfigured to electrically couple the actuator and the end effector, thecoupler including: an elongate body configured to be at least partiallyreceived within the central lumen of the positioner, at least a portionof the elongate body configured to flex during movement of thepositioner; at least one electrical conductor extending through theelongate body; and at least one proximal electrical contact beingdisposed at a proximal end of the elongate body and being configured toconnect an electrical conductor of the at least one electrical conductorto a respective electrical signal line at the actuator.
 2. Theinstrument of claim 1, wherein the elongate body includes at least onechannel extending through the elongate body, and wherein the at leastone channel is configured to receive a respective electrical conductorof the at least one electrical conductor.
 3. The instrument of claim 2,wherein the at least one channel is spaced apart from a centrallongitudinal axis of the elongate body.
 4. The instrument of claim 1,wherein the at least one proximal electrical contact is peripherallydisposed about an outside surface of the proximal end of the elongatebody, and wherein the at least one proximal electrical contact iselectrically connected to the electrical conductor of the at least oneelectrical conductor and is configured to contact an electrical contactof the actuator.
 5. The instrument of claim 1, wherein the at least oneproximal electrical contact includes an annular ring on an outsidesurface of the proximal end of the elongate body, and wherein theannular ring is configured to be electrically connected to theelectrical conductor of the at least one electrical conductor and isconfigured to maintain electrical contact with an electrical contact ofthe actuator as the elongate body rotates with respect to the electricalcontact of the actuator.
 6. The instrument of claim 1, wherein the endeffector is irremovably attached to a distal end of the elongate body,and wherein a distal end of the at least one electrical conductor is inelectrical contact with a portion of the end effector.
 7. The instrumentof claim 6, wherein the end effector includes a first jaw and a secondjaw, wherein the first jaw is electrically insulated from the secondjaw, and wherein the distal end of the at least one electrical conductoris in electrical contact with the first jaw or the second jaw.
 8. Theinstrument of claim 1, wherein the end effector is removably attached toa distal end of the elongate body, wherein a distal end of the at leastone electrical conductor is in electrical contact with the distal end ofthe elongate body such that the at least one electrical conductor is inelectrical contact with a corresponding contact of the end effector whenthe end effector is connected to the distal end of the elongate body. 9.The instrument of claim 8, wherein the end effector includes a first jawand a second jaw, wherein the first jaw is electrically insulated fromthe second jaw, and wherein the distal end of the at least oneelectrical conductor is in electrical contact with the first jaw or thesecond jaw.
 10. The instrument of claim 1, wherein the elongate body isconfigured to provide a degree of torsional rigidity, and wherein theactuator includes a mechanical interface being configured to receive andretain the elongate body and to deliver a rotational torque to theelongate body to cause rotation of the end effector.
 11. The instrumentof claim 1, wherein the elongate body includes a central conduit beingconfigured to receive a control link, and wherein the control linkextends between the actuator and the end effector and is configured tocause mechanical actuation of the end effector.
 12. The instrumentapparatus of claim 1, wherein the elongate body has a generallycylindrical shape.
 13. The instrument of claim 12, wherein the elongatebody includes an insulating sheath, and wherein the insulating sheath iscentrally disposed and at least partially defines an annular cylindricalchannel being configured to receive an electrical conductor of the atleast one electrical conductor.
 14. The instrument of claim 13, whereinthe insulating sheath includes a central conduit being configured toreceive a control link, and wherein the control link extends between theactuator and the end effector and is configured to cause mechanicalactuation of the end effector.
 15. The instrument of claim 14, whereinthe control link includes a conductive material and is an electricalconductor of the at least one electrical conductor.
 16. The instrumentof claim 15, wherein the end effector includes a first electricallyconductive jaw and a second electrically conductive jaw, and wherein thecontrol link is mechanically coupled to the first electricallyconductive jaw and the second electrically conductive jaw to cause thefirst electrically conductive jaw and the second electrically conductivejaw to transition between an open position and a closed position. 17.The instrument of claim 16, wherein the control link is electricallycoupled to the first electrically conductive jaw or the secondelectrically conductive jaw.